cMyCustomDevice Class Reference
[Devices]

cMyCustomDevice provides the structure in which you can very easily interface CHAI 3D to your custom haptic device.
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#include <CMyCustomDevice.h>

Inheritance diagram for cMyCustomDevice:

[legend]

List of all members.

Public Member Functions
	cMyCustomDevice (unsigned int a_deviceNumber=0)
	Constructor of cMyCustomDevice.
virtual	~cMyCustomDevice ()
	Destructor of cMyCustomDevice.
int	open ()
	Open connection to haptic device (0 indicates success).
int	close ()
	Close connection to haptic device (0 indicates success).
int	initialize (const bool a_resetEncoders=false)
	Initialize or calibrate haptic device (0 indicates success).
unsigned int	getNumDevices ()
	Returns the number of devices available from this class of device.
int	getPosition (cVector3d &a_position)
	Read the position of the device. Units are meters [m].
int	getRotation (cMatrix3d &a_rotation)
	Read the orientation frame of the device end-effector.
int	getGripperAngleRad (double &a_angle)
	Read the gripper angle in radian.
int	setForce (cVector3d &a_force)
	Send a force [N] to the haptic device.
int	setTorque (cVector3d &a_torque)
	Send a torque [N*m] to the haptic device.
int	setGripperTorque (double a_gripperTorque)
	Send a torque [N*m] to the gripper.
int	setForceAndTorqueAndGripper (cVector3d &a_force, cVector3d &a_torque, double a_gripperTorque)
	Send a force [N] and a torque [N*m] and gripper torque [N*m] to the haptic device.
int	getUserSwitch (int a_switchIndex, bool &a_status)
	read the status of the user switch [true = ON / false = OFF].
Protected Attributes
int	m_MyVariable
	a short description of my variable

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Detailed Description

cMyCustomDevice provides the structure in which you can very easily interface CHAI 3D to your custom haptic device.

Simply follow the comments and complete the gaps with your code. Depending of the numbers of degrees of freedom of your device, not all methods will need to be completed. For instance, if your device does not provide any rotation degrees of freedom, simply ignore the getRotation() method. Default values will be returned correctly if these are not implemented on your device

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Member Function Documentation

int cMyCustomDevice::close

(

)

[virtual]

Close connection to haptic device (0 indicates success).

Close connection to your device.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::getGripperAngleRad

(

double &

a_angle

)

[virtual]

Read the gripper angle in radian.

Read the gripper angle in radian.

Parameters:

a_angle

Return value.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

unsigned int cMyCustomDevice::getNumDevices

(

)

[virtual]

Returns the number of devices available from this class of device.

Returns the number of devices available from this class of device.

Returns:

Returns the result

Reimplemented from cGenericDevice.

int cMyCustomDevice::getPosition

(

cVector3d &

a_position

)

[virtual]

Read the position of the device. Units are meters [m].

Read the position of your device. Units are meters [m].

Parameters:

a_position

Return value.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::getRotation

(

cMatrix3d &

a_rotation

)

[virtual]

Read the orientation frame of the device end-effector.

Read the orientation frame of your device end-effector

Parameters:

a_rotation

Return value.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::getUserSwitch	(	int	a_switchIndex,
		bool &	a_status
	)			[virtual]

read the status of the user switch [true = ON / false = OFF].

Read the status of the user switch [true = ON / false = OFF].

Parameters:

	a_switchIndex	index number of the switch.
	a_status	result value from reading the selected input switch.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::initialize

(

const bool

a_resetEncoders = false

)

[virtual]

Initialize or calibrate haptic device (0 indicates success).

Calibrate your device.

Parameters:

a_resetEncoders

Ignored; exists for forward compatibility.

Returns:

Always 0

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::open

(

)

[virtual]

Open connection to haptic device (0 indicates success).

Open connection to your device.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::setForce

(

cVector3d &

a_force

)

[virtual]

Send a force [N] to the haptic device.

Send a force [N] to your haptic device

Parameters:

a_force

Force command to be applied to device.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::setForceAndTorqueAndGripper	(	cVector3d &	a_force,
		cVector3d &	a_torque,
		double	a_gripperTorque
	)			[virtual]

Send a force [N] and a torque [N*m] and gripper torque [N*m] to the haptic device.

Send a force [N] and a torque [N*m] and gripper torque [N*m] to the haptic device.

Parameters:

	a_force	Force command.
	a_torque	Torque command.
	a_gripperTorque	Gripper torque command.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::setGripperTorque

(

double

a_gripperTorque

)

[virtual]

Send a torque [N*m] to the gripper.

Send a torque [N*m] to the gripper

Parameters:

a_gripperTorque

Torque command to be sent to gripper.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cMyCustomDevice::setTorque

(

cVector3d &

a_torque

)

[virtual]

Send a torque [N*m] to the haptic device.

Send a torque [N*m] to the haptic device

Parameters:

a_torque

Force command to be applied to device.

Returns:

Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

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The documentation for this class was generated from the following files:

• D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CMyCustomDevice.h
• D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CMyCustomDevice.cpp